Method and apparatus for operating a rotary milking platform and rotary milking platform

Abstract

A method and apparatus for operating a rotary milking platform to maximize the number of animals milked per unit of time. The milking platform rotates about a central vertical axis by a variable speed motor and includes a plurality of animal receiving locations for animals being milked. An entry location and an exit location receive animals into and out of the platform. A position sensor monitors the angular position of the platform. An RFID sensor reads the identification of animals entering the platform. Historical data relating to the time to milk each milking session and the volume of milk produced per milking session is stored in memory. A microprocessor reads signals from flow meters monitoring the flow of milk from groups of teat cups in each animal receiving location, calculates an optimal angular velocity of the platform to maximize the number of animals milked per unit of time as each animal enters the platform. The optimal angular velocity is calculated based on historical data for each animal on the platform and the current milk production of each animal as determined from the flow meters.

Description

[0001] This application is a divisional application of the invention patent application entitled "Method and apparatus for operating a rotary milking platform to maximize the number of milked animals per unit time, and the rotary milking platform", with an international filing date of July 29, 2019, international application number PCT / IE 2019 / 000009, and national application number 201980059740.3. Technical Field

[0002] This invention relates to a method for operating a rotary milking platform to maximize the number of animals milked per unit time, and also to an apparatus for controlling the operation of a rotary milking platform to maximize the number of animals milked per unit time. Additionally, this invention relates to a rotary milking platform. Background Technology

[0003] Rotary milking platforms provide a continuous process format for milking operations used for cows and other animals, in which animals to be milked enter the platform, and correspondingly milked animals leave the platform at a certain frequency corresponding to the speed of the rotation. Typical rotation speeds of such milking platforms range from one revolution every six to fifteen minutes, depending on the number of animal holding positions on the platform. Animals enter the platform at the entrance position and leave at the exit position at a frequency of one animal every eight to thirty seconds. The entrance position is where each animal enters the milking platform, and the exit position is where each animal leaves the milking platform. Typically, if the entrance and exit positions are side-by-side, then the number of positions traversed by each animal holding position, including the animal in that position, between and including the entrance and exit positions, is equal to the number of animal holding positions on the milking platform. However, some rotary milking platforms allow each animal to leave the platform at up to three positions to allow sufficient time for the animal to exit from its respective holding position.

[0004] During one rotation of the platform, each animal undergoes pretreatment, including checking and cleaning its teats, and also examining for colostrum. The teat cups of the milking cup assembly are then attached to the animal's teats. After milking, the milking cup assembly is removed from the animal's teats, and post-milking treatment can be performed before the animal leaves the platform. For a given milking station or operator, pretreatment, attachment of the milking cup assembly, removal of the milking cup assembly, and post-milking treatment are generally consistent and remain constant for each animal, unless further diagnosis or treatment is required due to, for example, injury or infection. On the other hand, the actual milking time for an animal can vary considerably between the animals in question. In practice, in some cases, further treatment or diagnosis may be required, necessitating stopping the milking platform until appropriate measures are taken.

[0005] The total milking time depends on the angular velocity of the rotating platform, which the operator can adjust to be faster or slower. If the operator sets the angular velocity of the milking platform too fast, some animals' milk will not be fully extracted in one rotation of the platform and will make a second rotation around the platform. If these animals are milked immediately after leaving the platform, no more milk will be harvested from that animal's holding position on the platform for the remainder of the platform's rotation. If the operator sets the angular velocity of the platform too slow, the total milking time will increase, and some animals may take much longer than the platform completes one rotation. This also reduces the utilization rate of each animal holding position on the platform. However, it is not easy for the operator to easily determine the angular velocity value of the milking platform that will result in the minimum total time to milk all animals in the herd.

[0006] Therefore, a method is needed to control a rotary milking platform to maximize the number of milked animals per unit time, and a device is also needed to control the operation of the rotary milking platform to maximize the number of milked animals per rotary milking platform per unit time. Summary of the Invention

[0007] The present invention aims to provide a method and apparatus, and also relates to providing a rotary milking platform.

[0008] According to the present invention, a method is provided for operating a rotary milking platform to maximize the number of animals milked per unit time on the platform, the platform comprising a plurality of animal holding positions arranged circumferentially around the platform, and each animal holding position being configured to allow animals to sequentially enter the corresponding animal holding position at the inlet position and exit the corresponding animal holding position sequentially from the outlet position during each rotation of the platform, through P positions between the inlet position and the outlet position. The method includes calculating an optimal angular velocity of the platform based on historical data of each animal currently on the platform to maximize the number of animals milked per unit time, the historical data including at least one of historical milking time for each milking period of each animal currently on the platform and historical milk yield for each milking period of each animal currently on the platform.

[0009] In one embodiment of the invention, the optimal angular velocity of the platform is calculated based on the platform's current angular velocity. Preferably, the optimal angular velocity is calculated based on multiple corresponding different values ​​of the platform's angular velocity.

[0010] In another embodiment of the invention, the optimal angular velocity of the platform is calculated based on the current position of each animal on the platform as it leaves the starting position, which is the platform position where the animal enters the platform.

[0011] Preferably, the method further includes calculating the expected completion location for each animal currently on the platform, predicting that milking of the animal will be completed at that location.

[0012] Advantageously, the expected completion position of each animal is calculated based on its current position on the platform.

[0013] In one embodiment of the invention, the expected completion position of each animal is calculated based on historical data of each animal currently on the platform.

[0014] In another embodiment of the invention, the expected completion position of an animal is calculated based on at least one of the historical milking time for each milking period of each animal currently milking on the platform and the historical milk yield for each milking period of that animal.

[0015] In one embodiment of the invention, the expected completion position of an animal is calculated based on the milking time of each animal currently on the platform during its previous milking period on the platform.

[0016] Preferably, the expected completion position of each animal is calculated based on the milking time of its previous milking session at the time of day corresponding to the time of day of its current milking session. Advantageously, the expected completion position of each animal is calculated based on its current milk production on the platform.

[0017] In one embodiment of the invention, the expected completion position of an animal is calculated based on the estimated completion time of milking for each animal currently on the platform.

[0018] In another embodiment of the invention, the estimated completion time of each animal is calculated based on its current position on the platform. Preferably, the estimated completion time of each animal is calculated based on historical data of each animal currently on the platform.

[0019] Advantageously, the estimated completion time of an animal is calculated based on at least one of the historical milking time for each milking period of each animal currently being milked on the platform and the historical milk yield for each milking period of that animal.

[0020] In one embodiment of the invention, the estimated completion time of an animal is calculated based on the milking time of that animal during its previous milking period on the platform.

[0021] In another embodiment of the invention, the estimated completion time of an animal is calculated based on the milking time of the previous milking period of each animal currently on the platform at the time of day corresponding to the time of day of the animal's current milking period.

[0022] In another embodiment of the invention, the estimated completion time of an animal is calculated based on the current milk production of each animal on the platform.

[0023] Preferably, the estimated completion time of an animal is calculated based on the time that each animal currently on the platform has been milked on the platform and the previously most recently calculated estimated completion time.

[0024] In one embodiment of the invention, the estimated completion time of an animal is calculated based on the difference between the current estimated completion time of each animal currently on the platform and the time the animal has already been milked on the platform. Preferably, the estimated completion time of an animal is calculated based on the product of the current position of each animal on the platform, the current angular velocity of the platform, and the difference between the current estimated completion time of the animal and the time the animal has already been milked on the platform.

[0025] In one embodiment of the invention, the optimal angular velocity of the platform is calculated based on the expected completion position of each animal currently on the platform.

[0026] In another embodiment of the invention, the method further includes calculating the non-productive time period for each animal currently on the platform, the non-productive time period being the time during which the animal will remain on the platform from its expected completion position to one of its platform exit position and its ideal completion position.

[0027] Preferably, the non-productive time period for each animal currently on the platform is calculated based on the difference between the animal's platform exit position and one of the animal's ideal completion position and the animal's expected completion position on the platform.

[0028] Advantageously, the total non-productive time period of the corresponding animal currently on the platform is calculated. Ideally, the total non-productive time period of the corresponding animal currently on the platform is calculated by summing the non-productive time periods of the corresponding animal currently on the platform.

[0029] Preferably, the optimal angular velocity of the platform is determined as the platform angular velocity value under which the sum of the non-productive time periods of the corresponding animals currently on the platform is minimized.

[0030] In one embodiment of the invention, for different values ​​of the platform's angular velocity, a plurality of sums of the non-productive time periods of the corresponding animals currently on the platform are calculated.

[0031] In one embodiment of the invention, the sum of the non-productive time periods of the corresponding animals currently on the platform with respect to the platform with respect to the platform with respect to the platform with respect to the platform is compared with each other, and the angular velocity value that results in the minimum value of the sum of the non-productive time periods of the corresponding animals currently on the platform is determined as the optimal angular velocity of the platform.

[0032] Preferably, for each value of the platform's angular velocity, the sum of the non-productive time periods of the corresponding animal currently on the platform is calculated based on the sum of the current positions of each animal on the platform and the product of the platform's angular velocity value and the difference between the animal's current estimated completion time and the time the animal has already been milked on the platform.

[0033] In one embodiment of the invention, the method further includes calculating the number of platform revolutions at which each animal currently on the platform should remain on the platform to minimize the sum of the non-productive time periods of the corresponding animals on the platform. Preferably, the optimal angular velocity of the platform is calculated based on the number of revolutions at which each animal should remain on the platform to minimize the sum of the non-productive time periods of the corresponding animals on the platform.

[0034] In one embodiment of the invention, milking of each animal currently on the platform is considered to begin at either the attachment of the milking cup assembly to the animal's teat or the detection of milk flowing from the milking cup assembly attached to the animal.

[0035] In another embodiment of the invention, the optimal angular velocity of the platform is calculated each time an animal enters the platform. Advantageously, the optimal angular velocity of the platform is calculated each time an animal leaves the platform.

[0036] In another embodiment of the invention, the optimal angular velocity of the platform is calculated each time milking of the animals on the platform begins.

[0037] In another embodiment of the invention, the optimal angular velocity of the platform is calculated whenever a deviation between the milk production of each animal on the platform and the animal’s historical milk production is detected.

[0038] In another embodiment of the invention, the optimal angular velocity of the platform is calculated whenever a deviation between the milking time of each animal on the platform and the historical milking time of that animal is detected.

[0039] In another embodiment of the invention, the optimal angular velocity of the platform is calculated at predetermined time intervals. Preferably, each predetermined time interval is in the range of 0.5 seconds to 60 seconds. Advantageously, each predetermined time interval is in the range of 20 seconds to 30 seconds. Ideally, each predetermined time interval is approximately 25 seconds.

[0040] In another embodiment of the invention, the optimal angular velocity of the platform is calculated substantially continuously.

[0041] Preferably, the platform's angular velocity is changed each time an optimal angular velocity value is calculated, and the platform's angular velocity is changed to the most recently calculated optimal angular velocity value. Advantageously, the platform's angular velocity is gradually changed each time it is being changed to the most recently calculated optimal angular velocity value.

[0042] Preferably, the historical data of each animal on the platform is weighted and aggregated with historical data determined immediately preceding a predetermined time period. Advantageously, the predetermined time period ranges from 1 day to 30 days. Preferably, the predetermined time period ranges from 2 days to 7 days. Ideally, the predetermined time period is approximately 5 days.

[0043] In one embodiment of the invention, historical data of each animal currently on the platform is weighted to data based on one of the animal’s immediate previous milking periods on the platform.

[0044] In another embodiment of the invention, the historical data of each animal currently on the platform is weighted to data based on one of the previous milking periods immediately following the time of day corresponding to the animal's current milking period. In another embodiment of the invention, the historical data of each animal on the platform includes data relating to at least one of the animal's lactation stage and the time of day (morning or evening) associated with the animal's historical data.

[0045] Preferably, historical data for each animal to be milked on the platform is provided as a milking profile specific to that animal. Advantageously, each animal's milking profile is derived from historical milking data obtained across multiple milking periods for that animal. Preferably, the milking profile for each animal is determined by curve fitting a large number of statistical probability distributions, and an optimal fitting model is identified. Advantageously, the milking profile for each animal is determined based on the optimal fitting model.

[0046] The present invention also provides a milking platform configured to operate under the control of the method according to the present invention.

[0047] In addition, the present invention provides a rotary milking platform configured to operate according to the method of the present invention to maximize the number of milked animals per unit time on the platform.

[0048] Furthermore, the present invention provides an apparatus for operating a rotary milking platform to maximize the number of milked animals per unit time, the apparatus comprising a signal processor configured to perform a method according to the invention and to calculate, according to the method, an optimal angular velocity of the platform to maximize the number of milked animals per unit time.

[0049] The present invention also provides an apparatus for operating a rotary milking platform to maximize the number of animals milked per unit time, the apparatus including a signal processor configured to calculate an optimal angular velocity of the platform based on historical data of each animal currently on the platform to maximize the number of animals milked per unit time, the historical data including at least one of historical milking time for each milking period for milking each animal currently on the platform and historical milk yield for each milking period for each animal currently on the platform.

[0050] In one embodiment of the invention, the signal processor is configured to calculate the optimal angular velocity of the platform based on the platform's current angular velocity. Preferably, the signal processor is configured to calculate the optimal angular velocity based on a plurality of corresponding different values ​​of the platform's angular velocity.

[0051] In one embodiment of the invention, the signal processor is configured to calculate the optimal angular velocity of the platform based on the current position of each animal currently on the platform as it leaves the starting position, which is the position on the platform where the animal entered the platform.

[0052] In another embodiment of the invention, the signal processor is configured to calculate the expected completion position for each animal currently on the platform, at which the milking of that animal is expected to be completed.

[0053] In another embodiment of the invention, the signal processor is configured to calculate the expected completion position of each animal on the platform based on the current position of each animal on the platform.

[0054] Preferably, the signal processor is configured to calculate the animal's expected completion position based on historical data of each animal currently on the platform.

[0055] Advantageously, the signal processor is configured to calculate the expected completion position of the animal based on at least one of the historical milking time for each milking period used to milk each animal currently on the platform and the historical milk yield for each milking period of the animal.

[0056] In another embodiment of the invention, the signal processor is configured to calculate the expected completion position of each animal on the platform based on the milking time of the previous milking period on the platform.

[0057] Preferably, the signal processor is configured to calculate the expected completion position of each animal based on the milking time of the previous milking period at the time of day corresponding to the time of day of the animal's current milking period.

[0058] In one embodiment of the invention, the signal processor is configured to calculate the expected completion position of an animal based on the current milk production of each animal currently on the platform.

[0059] In another embodiment of the invention, the signal processor is configured to calculate the expected completion position of an animal based on the estimated completion time of milking for each animal currently on the platform.

[0060] In another embodiment of the invention, the signal processor is configured to calculate the estimated completion time of each animal based on its current position on the platform.

[0061] Preferably, the signal processor is configured to calculate the estimated completion time of each animal based on historical data currently on the platform.

[0062] Advantageously, the signal processor is configured to calculate the animal’s estimated completion time based on at least one of the historical milking time for each milking period used to milk each animal currently on the platform and the animal’s historical milk yield per milking period.

[0063] In another embodiment of the invention, the signal processor is configured to calculate the estimated completion time of an animal based on the milking time of that animal during its previous milking period. Preferably, the signal processor is configured to calculate the estimated completion time of an animal based on the milking time of that animal during its previous milking period at the time of day corresponding to the time of day of that animal's current milking period.

[0064] In another embodiment of the invention, the signal processor is configured to calculate the estimated completion time of each animal on the platform based on the current milk production of each animal on the platform.

[0065] Preferably, the signal processor is configured to calculate the estimated completion time of an animal based on the time that each animal currently on the platform has been milked on the platform and the previously most recently calculated estimated completion time.

[0066] In another embodiment of the invention, the signal processor is configured to calculate the estimated completion time of an animal based on the difference between the current estimated completion time for each animal currently on the platform and the time the animal has already been milked on the platform. Preferably, the signal processor is configured to calculate the estimated completion time of an animal based on the product of the current position of each animal currently on the platform and the current angular velocity of the platform and the difference between the current estimated completion time for that animal and the time the animal has already been milked on the platform.

[0067] In one embodiment of the invention, the signal processor is configured to calculate the optimal angular velocity of the platform based on the calculated expected completion position of each animal currently on the platform.

[0068] In another embodiment of the invention, the signal processor is configured to calculate the non-productive time period for each animal currently on the platform, the non-productive time period being the time the animal will remain on the platform during one of the periods from the animal's expected completion position to the animal's exit position on the platform and for the animal's ideal completion position.

[0069] Preferably, the signal processor is configured to calculate the non-productive period of an animal based on the difference between one of the animal's current exit position on the platform and its ideal completion position on the platform and the animal's expected completion position on the platform.

[0070] Preferably, the signal processor is configured to calculate the total non-productive time period of the corresponding animal currently on the platform. Advantageously, the signal processor is configured to calculate the total non-productive time period of the corresponding animal currently on the platform by summing the non-productive time periods of the corresponding animals currently on the platform.

[0071] In one embodiment of the invention, the signal processor is configured to determine the optimal angular velocity of the platform as the angular velocity value of the platform when the sum of the non-productive time periods of the corresponding animals currently on the platform is minimized.

[0072] Preferably, the signal processor is configured to calculate multiple sums of the non-productive time periods of the corresponding animals currently on the platform for different values ​​of the platform's angular velocity. Advantageously, the signal processor is configured to compare the corresponding calculated sums of the non-productive time periods of the corresponding animals currently on the platform for different values ​​of the platform's angular velocity with respect to each other, so as to determine the angular velocity value that results in the minimum value of the calculated sum of the non-productive time periods of the corresponding animals currently on the platform as the optimal angular velocity of the platform.

[0073] Preferably, the signal processor is configured to calculate the sum of the non-productive time periods of the corresponding animal currently on the platform for each value of the platform's angular velocity, based on the current position of each animal on the platform and the product of the platform's angular velocity value and the difference between the animal's current estimated completion time and the time the animal has been milked on the platform.

[0074] In one embodiment of the invention, the signal processor is configured to calculate the number of platform revolutions that each animal currently on the platform should maintain on the platform to minimize the sum of the non-productive time periods of the respective animals on the platform. Advantageously, the signal processor is configured to calculate the optimal angular velocity of the platform based on the calculated number of platform revolutions that each animal should maintain on the platform to minimize the sum of the non-productive time periods of the respective animals on the platform.

[0075] In another embodiment of the invention, the signal processor is configured to consider that milking of each animal currently on the platform begins when either the milking cup assembly is attached to the animal's teat or milk is detected flowing from the milking cup assembly attached to the animal.

[0076] Preferably, the signal processor is configured to calculate the optimal angular velocity of the platform whenever an animal enters the platform. Advantageously, the signal processor is configured to calculate the optimal angular velocity of the platform whenever an animal leaves the platform.

[0077] In one embodiment of the invention, the signal processor is configured to calculate the optimal angular velocity of the platform whenever milking begins on the platform.

[0078] In another embodiment of the invention, the signal processor is configured to calculate the optimal angular velocity of the platform whenever a deviation between the milk production of each animal on the platform and the historical milk production of that animal is detected.

[0079] In another embodiment of the invention, the signal processor is configured to calculate the optimal angular velocity of the platform whenever a deviation between the milking time of each animal on the platform and the historical milking time of that animal is detected.

[0080] In one embodiment of the invention, the signal processor is configured to calculate the optimal angular velocity of the platform at predetermined time intervals.

[0081] In another embodiment of the invention, the signal processor is configured to calculate the optimal angular velocity of the platform substantially continuously.

[0082] In another embodiment of the invention, the signal processor is configured to change the angular velocity of the platform whenever an optimal angular velocity value of the platform is calculated, and to change the angular velocity of the platform to the previously most recently calculated optimal angular velocity value. Preferably, the signal processor is configured to gradually change the angular velocity of the platform whenever the platform's angular velocity is being changed to the previously most recently calculated optimal angular velocity value.

[0083] In another embodiment of the invention, the signal processor is configured to weight historical data of each animal on the platform to historical data determined during a previous predetermined time period.

[0084] Preferably, the signal processor is configured to weight historical data of each animal currently on the platform to historical data based on one of the animal's immediate previous milking periods on the platform.

[0085] Advantageously, the signal processor is configured to weight historical data of each animal currently on the platform to historical data of one of the immediately preceding previous milking periods based on the time of day corresponding to the animal's current milking period.

[0086] Preferably, the historical data for each animal on the platform includes data relating to at least one of the animal’s lactation stage and the time of day (morning or evening) in which the animal’s historical data pertains.

[0087] The present invention also provides a rotary milking platform including the device according to the invention, for controlling the operation of the platform to maximize the number of animals milked per unit time.

[0088] The present invention has many advantages. One particularly important advantage is that the method and apparatus according to the invention allow for maximizing the number of animals milked per unit time on the milking platform. This is achieved by periodically updating the platform's angular velocity to an optimal angular velocity based on the current number of animals on the platform that maximizes the number of animals milked per unit time. By calculating the optimal angular velocity of the platform each time an animal enters the platform, the number of animals milked per unit time can be maximized.

[0089] By maximizing the number of animals milked per unit time on the platform, the total milking time for a given herd size can be significantly reduced. Therefore, with relatively large herd sizes, the size and number of milking platforms can be reduced, which is a clear advantage. Attached Figure Description

[0090] The invention will be more clearly understood from the following description of preferred embodiments given only by way of non-limiting example and with reference to the accompanying drawings, in which:

[0091] Figure 1 This is a block diagram of a rotary milking platform according to the invention and an apparatus according to the same invention, which performs a method according to the same invention for operating the rotary milking platform to maximize the number of animals milked on the platform. Detailed Implementation

[0092] Referring to the accompanying drawings, which illustrate a rotary milking platform according to the invention, generally indicated by reference numeral 1, the rotary milking platform 1 includes a device also according to the invention, generally indicated by reference numeral 3, for performing the method of operating the rotary milking platform 1 according to the invention in order to maximize the number of animals milked per unit time, which in the figure is the number of animals milked per hour. The rotary milking platform 1 is rotatably mounted about a vertical central main rotation axis 4 and includes a plurality of animal receiving positions 5 for accommodating corresponding animals on the platform 1 during milking. Any number of animal receiving positions 5 can be provided, but typically the number of animal receiving positions can range from twenty to one hundred and twenty, or even higher. In this embodiment of the invention, for convenience, the platform 1 is shown as including twelve animal receiving positions 5. A variable speed motor 6, shown only in block diagram, rotates the platform about the main rotation axis 4 in the direction of arrow A.

[0093] An inlet 7 is located on the milking platform 1. As the platform 1 rotates around the main rotation axis 4 in the direction of arrow A, passing through the inlet 7, animals sequentially enter animal receiving positions 5. The inlet 7 will also be referred to herein as inlet position 7. The platform 1 is provided with an outlet 9 for sequentially receiving animals from animal receiving positions 5 as the platform 1 rotates in the direction of arrow A, passing through the outlet 9. The outlet 9 will also be referred to herein as outlet position 9. In this embodiment of the invention, and typically in such a rotary milking platform, the outlet 9 is located near the inlet 7 so that the number P positions traversed by each animal receiving position 5 (and thus each animal located at one of the animal receiving positions 5 passes between inlet position 7 and outlet position 9 in each rotation of the platform 1 (including inlet position 7 and outlet position 9)) is equal to the number of animal receiving positions 5 on the platform 1, assuming that the angular width of each position is equal to the angular width of each animal receiving position 5. However, typically, to make it easier for animals to leave the platform through the outlet 9, since animals must back up from the corresponding animal receiving position, the width of the outlet 9 may be larger than the width of the inlet 7, typically as wide as three animal receiving positions.

[0094] The position sensor 10, shown in the block diagram, continuously monitors the rotation of the platform 1 and generates a signal indicating the position of the platform 1 relative to a reference, which in this embodiment of the invention is the entry position 7.

[0095] In this embodiment of the invention, the means for identifying each animal as it passes through the entrance 7 and arrives at the platform 1 includes an RFID sensor element 12 located at the animal holding position 5 of the platform 1, adjacent to the entrance 7. Each animal in the herd to be milked on the rotary milking platform 1 is equipped with a suitable identification tag, which in this embodiment of the invention includes an ear tag. The ear tag is provided with a corresponding electronically readable unique identification code for identifying the respective animal. As the animals sequentially enter the animal holding position 5 through the entrance 7, the RFID sensor element 12 reads the code from the corresponding ear tag.

[0096] Each animal holding position 5 is equipped with a milking cup assembly (not shown), which is attached to the animal's teat for milking. Milk is drawn from the milking cup assembly in a conventional manner and then transported to a bulk milk storage tank (not shown). Milk is drawn from each milking cup assembly via a corresponding flow meter 14 shown in the block diagram to continuously monitor the flow rate of milk drawn from the animal at the corresponding animal holding position 5. The flow meter 14 generates an electrical signal indicating the monitored flow rate of milk drawn from the corresponding animal at the corresponding animal holding position 5.

[0097] The milking platform 1 described herein is known to those skilled in the art, and no further detailed description of the rotary milking platform 1 is necessary.

[0098] Turning now to the apparatus 3 for performing the method according to the invention for operating a rotary milking platform 1 to maximize the number of milked animals per hour, the apparatus 3 includes a signal processor, which in this embodiment of the invention is provided by a microprocessor 15. The microprocessor 15 is programmed to control the operation of the rotary milking platform 1 and to control the motor 6 and its speed, thereby sequentially controlling the angular velocity of the platform 1 so that the platform 1 rotates about the main rotation axis 4 at an optimal angular velocity to maximize the number of milked animals per hour on the platform 1 as described below.

[0099] When an animal enters an animal holding location 5 on platform 1, microprocessor 15 reads a signal from RFID sensor 12 to identify each animal. Microprocessor 15 is programmed to cross-reference the identifier of each animal with the identifier of the animal holding location in which the animal is located. The identifier of each animal cross-referenced with the identifier of the animal holding location is stored in memory, which may be the memory of microprocessor 15 or an electronic memory 17 communicating with microprocessor 15. For the purpose of describing this embodiment of the invention, it is assumed that the identifier of each animal cross-referenced with the corresponding animal holding location 5 is stored in memory 17.

[0100] The microprocessor 15 is also programmed to read signals from the flow meter 14 at the corresponding animal holding position 5 and calculate the milk production of each animal from the start of milking. The milk production of the corresponding animal on platform 1 is continuously updated and cross-referenced with the animal's identifier and stored in memory 17.

[0101] The microprocessor 15 is also programmed to continuously read signals from the position sensor 10. The microprocessor 15 is programmed to determine the current angular position of each animal on platform 1 based on the signals read from the position sensor 10. This angular position is the angular distance that platform 1 has rotated since the animal entered platform 1. The current angular position of each animal on platform 1 is the same as the current angular position of the animal's holding position 5, therefore the current angular position of the animal on platform 1 is equal to the angle that the animal's holding position 5 has traveled since the animal entered it. For convenience, when an animal enters the animal holding position 5 at entrance 7, the position of each animal holding position 5 is referred to as the starting position of that animal holding position, or the starting position of the animal. Therefore, when the animal holding position 5 is aligned with entrance 9, the microprocessor 15 determines the starting position of each animal holding position 5 based on the angular position of platform 1 according to the signals read from the position sensor 10. The microprocessor 15 determines the current angular position of each animal holding position 5, and then calculates the current angular position of each animal on the platform 1 by summing the angular distance from the animal holding position 5 to the angular position of the platform 1 when the animal holding position 5 is in the starting position. The current angular position of each animal and its corresponding animal holding position 5 and the corresponding starting position are continuously updated and stored in the memory 17 and cross-referenced with the corresponding animal's identifier.

[0102] When an animal begins milking, the microprocessor 15 is also programmed to determine the angular position of each animal on platform 1 based on signals read from position sensor 10 and flow meter 14. The microprocessor 15 is programmed to determine the start of milking based on a signal read from flow meter 14 relative to the animal's location at animal holding position 5, indicating the start of milk flow. When the microprocessor 15 determines the start of milking, it determines the angular position of the animal on platform 1 at the start of milking by determining the angular position of the animal's location at animal holding position 5 based on the animal's initial position. The angular positions of each animal at the start of milking are cross-referenced with the corresponding animal's identifier in memory 17.

[0103] The microprocessor 15 is programmed to calculate the optimal angular velocity of platform 1 based on historical data relating to each animal on the platform, to maximize the number of animals milked on platform 1 per hour. Historical data about each animal in the herd to be milked on platform 1 is stored in memory 17 and cross-referenced with the corresponding animal's identifier. In this embodiment of the invention, the historical data is stored as a milking profile specific to each animal and includes the historical milking time for each milking period of each animal in the herd, and the historical milk yield for each milking period of each animal in the herd. For each milking period of the day, the historical milking time and historical milk yield for each milking period of each animal are provided separately, for example, in the case of twice a day, morning and evening, the historical milking time and historical milk yield for each milking period of each animal are stored separately for the morning and evening periods. If the animals are milked more than twice a day, such data for three or more milking periods are provided separately each day. In addition, the historical data includes the lactation stage of each animal. The last milking time for each animal is also stored in memory 17.

[0104] Historical data for the corresponding animal can first be manually entered into the microprocessor 15 and stored in the memory 17 via a suitable interface 19, which may include a keyboard, touchscreen, etc. Alternatively, the interface 19 may include a suitable connector for connecting the microprocessor 15 to a computer to download historical data from the computer to the memory 17. Historical data can be additionally or alternatively derived from multiple milking periods of the corresponding animal in the herd on the milking platform 1. Once the historical data has been initially stored in the memory 17, it is continuously updated with respect to the corresponding animal after each milking period on the platform 1, based on the milking performance of the corresponding animal during that milking period. To improve the accuracy of calculating the optimal angular velocity of the platform 1, the historical data of the corresponding animal is weighted to the latest milking performance of the corresponding animal, and typically, the historical data of the corresponding animal is weighted to the milking performance of the corresponding animal during the previous three to seven days.

[0105] In this embodiment of the invention, the microprocessor 15 is programmed to calculate a new optimal angular velocity for the platform 1 whenever an animal enters the platform 1, and when the new optimal angular velocity is calculated, the microprocessor 15 controls the variable speed motor 6 to change the angular velocity of the platform 1 to the previously most recently calculated optimal angular velocity.

[0106] Before describing in detail how to calculate the optimal angular velocity of the platform, an overview of the method used to determine the optimal angular velocity of platform 1 will first be provided.

[0107] When each animal enters platform 1, microprocessor 15 identifies the animal based on signals read from RFID sensor element 12 and cross-references the animal's identifier with the number of the animal holding position 5 it entered, so that the animal can be tracked during milking on platform 1. Microprocessor 15 is programmed to calculate the optimal angular velocity of platform 1 each time an animal enters, in order to maximize the number of animals milked per unit time, that is, to maximize the number of animals milked on platform 1 per hour. Furthermore, microprocessor 15 is also programmed to calculate the optimal angular velocity of platform 1 to maximize the number of animals milked on the platform per hour, particularly when an animal leaves platform 1 and no animal enters the newly vacated position on the platform.

[0108] To determine the optimal angular velocity of the platform, the microprocessor 15 is programmed to initially calculate the expected completion position of each animal on platform 1, i.e., the angular position in radians at which milking of the animal is predicted to be completed at the animal's animal holding position 5. The expected completion position for each animal is calculated based on its current angular position on platform 1, historical data of the animal's milking period corresponding to the current milking time of the day, and also based on the milk yield from the start of milking to the animal's current angular position on platform 1, and the milking time from the start of milking to the animal's current angular position on platform 1. In calculating the expected completion position for each animal, the microprocessor 15 is programmed to calculate the non-productive time period (in radians) from the expected completion position to the ideal completion position for each animal on platform 1. The ideal completion position for each animal is the angular position of the platform on which milking of the animal should be completed, allowing sufficient time to remove the milking cup assembly from the animal's teat and perform any post-processing of the animal's teat before the animal reaches exit position 9. The non-productive period for each animal refers to the time during which the animal will remain on the platform from its expected completion position to its ideal completion position, during which no milk will be harvested from the animal. The non-productive period for each animal is calculated by subtracting the angle of the expected completion position from the angle of the ideal completion position, both positions being based on the starting position of the animal's holding position 5. Initially, the expected completion position for each animal is calculated based on the current angular velocity of the platform. Some animals will terminate at their calculated expected completion position on the platform before the ideal completion position, while others may terminate after the ideal completion position, and some may extend more than 2π radians from the animal's starting position, which would require the animal to remain on platform 1 for one more lap.

[0109] Once the non-productive time period for each animal on platform 1 has been calculated, these non-productive time periods are summed in radians to obtain the total non-productive time period for the platform's current angular velocity. Microprocessor 15 is programmed to calculate multiple sums of the non-productive time periods for the animals on the platform for multiple different values ​​of the platform's angular velocity. Then, microprocessor 15 compares the corresponding sums of the non-productive time periods for the animals on platform 1 for different values ​​of the platform's angular velocity, and the platform angular velocity value that results in the minimum sum of the non-productive time periods for the animals on the platform is determined by microprocessor 15 as the optimal angular velocity.

[0110] After determining the optimal angular velocity of platform 1, microprocessor 15 controls the speed of motor 6 to gradually change the angular velocity of platform 1 to the newly determined optimal angular velocity.

[0111] Typically, based on the newly determined optimal angular velocity of the platform, it is expected that the projected completion position for most animals should occur exactly before the ideal completion position. However, if the projected completion position for some animals should occur after the ideal completion position, those animals with such projected completion positions will remain on the platform for one more lap.

[0112] Typically, depending on the number of animal accommodation positions on the platform and the platform's angular velocity (the time from when an animal enters the platform via inlet position 7, in other words, from the animal's starting position until the milker has been attached to the animal), the platform may have passed three to eight positions. Therefore, many animals on the milking platform will not begin milking while the optimal angular velocity of the milking platform is being calculated. To be able to calculate the expected completion position for each of those animals that have not yet been attached to the milking cup set, it is assumed that the milking cup set is attached to those animals at a predetermined angular position. Typically, the predetermined position will be the position where the milking cup set is expected to be attached to the animal, and it is also the average position where the milking cup set is usually attached to the animal. The expected completion position for each of these animals is calculated based on this predetermined position, which will also be considered the position on the platform where the relevant animal begins milking. However, once a signal read by the microprocessor 15 from the corresponding flow meter 14 indicates that the animal has begun milking, the expected completion position of the animal is calculated with respect to the angular position of the animal accommodation position 5 where the animal began milking.

[0113] The method for determining the optimal angular velocity of the platform, programmed to be executed by the microprocessor 15, will now be described in more detail. First, an objective function is prepared, which the microprocessor 15 uses to calculate the optimal angular velocity of the platform to maximize the number of milked animals per unit time. The optimization of the entire system involves two key steps: statistical analysis of historical data and development of an optimization algorithm based on the dynamic characteristics of platform 1.

[0114] First, historical data of all animals in the herd are analyzed to develop a milking profile specific to each animal. As mentioned above, this data includes milk yield and milking time for each milking period for each animal across multiple milking periods (e.g., across predetermined periods ranging from 1 to 30 days, preferably from 2 to 7 days, and most preferably from approximately 5 days). For each animal in the herd, milking time and milk yield for each milking period are provided for both morning and evening milking periods. Additionally, the historical data also includes the lactation stage of each animal in the herd. Curve fitting is then performed on this data using a large number of statistical probability distributions, and the best-fit model is determined for each animal. The best fit is determined by evaluating the sum of the squared errors (SSE) of predictions for each model. The predicted milking time for each animal, i.e., the predicted duration of milking time for a given milking period, is determined based on the model and used as input to optimize the model. The predicted milking time for each animal is constant for that animal and is stored in memory 17. However, during each milking period for each animal on Platform 1, a variable milking time is derived based on the animal's current milk production, and the milking time is continuously updated during each milking period. At the end of each milking period, the final updated value of the milking time for each animal is stored and cross-referenced with that animal, and the milking time for each animal is weighted to the latest updated milking time.

[0115] When milking begins for each animal on Platform 1, the milking time for each animal is based on a model weighted to its latest updated value. Once milking begins, the milking time for each animal on the platform is dynamically updated based on that animal's currently detected milk yield. This update is performed by comparing the predicted milk flow profile with the current milk flow profile, and then adjusting the predicted milking time accordingly.

[0116] Now we turn to the calculation of the optimal angular velocity of platform 1. Ideally, there would be no non-productive periods on the platform; these are the periods during which animals must remain on platform 1 after milking has been completed. However, this is usually not achievable. To minimize the number of non-productive periods, in the case of one or a few animals, it may be desirable to set the optimal angular velocity of platform 1 such that one or a few animals may not have been milked when they reach their ideal completion or exit position 9. In this case, the animals will remain on the platform for a second rotation, and in extreme cases, the platform may rotate three or more times until milking is complete.

[0117] The algorithm used by microprocessor 15 to minimize the sum of the non-productive time periods of the animals currently on the platform by taking advantage of different values ​​of angular velocity on the platform is as follows:

[0118]

[0119] Formula (1) can be approximated as

[0120]

[0121] in

[0122] ω is the angular velocity of platform 1 in radians per second.

[0123] φ is the ideal angular position, in radians, at which the animal leaves its starting position on the platform.

[0124] n is the number of animals on platform 1 when the optimal angular velocity of platform 1 is being calculated.

[0125] x i It is the projected final position, in radians, of a given animal's departure from its starting position, while

[0126] m i m is the number of revolutions of a given animal at a given angular velocity on platform 1. If the predicted angular completion position of the given animal is within the first revolution of the milking platform from its starting position, then m i =θ, and increment by 1 for all other rotations.

[0127]

[0128] in

[0129]

[0130] or

[0131]

[0132] in

[0133] θ i It is the current angular position on platform 1, in radians, representing the position of the animal after leaving its initial position.

[0134] τ i It is the expected milking time for a given animal on platform 1, taking into account the animal's current milk production.

[0135] t i It is the time that a given animal on platform 1 has been milked.

[0136] Whenever the optimal value of the angular velocity of platform 1 needs to be calculated, microprocessor 15 calculates multiple sums of the non-productive time periods of the animals currently on platform 1 according to equation (2) for multiple different values ​​of the angular velocity of platform 1 (including the current value of the angular velocity of platform 1). Then, microprocessor 15 determines the optimal value of the angular velocity of platform 1 as the angular velocity value that results in the minimum value of the sum of the non-productive time periods of the animals on platform 1.

[0137] Then, when the optimal value of the angular velocity of platform 1 is calculated, the microprocessor 15 operates the motor 6 to gradually change the current angular velocity of platform 1 to the newly calculated optimal angular velocity, so the operation of the milking platform continues until all animals in the herd have finished milking.

[0138] At the end of each milking session, the historical data of the animals in the herd is stored in memory 17, including data defining the milking profiles specific to each animal in the herd, containing the historical milking time and milk yield for each animal in the herd for each milking session. This data is then updated with the milk yield and milking time of the just-completed milking session, where the historical milk yield and milking time for each animal in each milking session are weighted by their corresponding updated values.

[0139] Although embodiments of the invention have been described with reference to calculating the optimal angular velocity of platform 1 each time an animal enters and / or leaves the milking platform, it is conceivable that the optimal angular velocity of platform 1 can be calculated at any time during the rotation of the milking platform. For example, it is conceivable that the optimal angular velocity of the milking platform be calculated each time a milking cup assembly is attached to an animal, and / or each time a milking cup assembly is removed from an animal. It is also conceivable that the optimal angular velocity of the milking platform be calculated whenever the milking rate of one or more animals is found to differ from the historical and / or predicted milking rate of one or more animals on the platform. Furthermore, it is conceivable that the optimal angular velocity of the platform be calculated whenever the milking platform is restarted after a stop due to further animal-related actions (where pretreatment of the animal prior to attaching the milking cup assembly indicates the need for further examination or treatment, requiring a stop of the milking platform). It is also conceivable that the optimal angular velocity of the platform be calculated at predetermined time intervals, wherein the predetermined time interval may be in the range of 0.5 seconds to 60 seconds.

[0140] In other embodiments of the invention, it is conceivable to calculate the optimal angular velocity of the platform less frequently than described, and in some embodiments, it is conceivable that instead of calculating the optimal angular velocity of the platform each time an animal enters the platform, the optimal angular velocity of the platform can be determined for the entire group of animals. In this case, the angular velocity of the platform will remain constant for that group of animals, but may change, for example, for the next group of animals. It is conceivable that if a group of animals is a high-milk-producing group, the optimal angular velocity of the platform can be calculated for that group of high-milk-producing animals, and then the optimal angular velocity of the platform can be calculated for another group of animals that may be a low-milk-producing group.

[0141] It is also conceivable that the microprocessor could be programmed to detect abnormal milking cup attachment speeds while attaching milking cup sets to animals. For example, if milking cup sets are being attached to animals at a rate of one set every 12 seconds, and the interval between the attachment of the last milking cup set and the attachment of the next milking cup set is greater than 12 seconds, then the microprocessor 15 could be programmed to slow down or stop the milking platform until the next milking cup set has been attached to the next animal to which the milking cup set is to be attached. Once the next milking cup set is attached, the microprocessor 15 sets the angular velocity of the milking platform to the angular velocity of the platform rotation before slowing down or stopping, then the microprocessor calculates the new optimal angular velocity of the platform, and then controls the motor 6 to gradually change the angular velocity of the platform 1 to the previously most recently calculated optimal angular velocity.

[0142] It is conceivable that, in the event that the animal is being milked at a relatively fast speed and the angular velocity of the platform makes it impossible for the operator to keep up with the speed at which the animal enters the platform to attach the milking cup assembly to the animal, the microprocessor 15 could be programmed to stop or control the speed of the motor 6 to reduce the angular velocity of the platform 1 in the event of a missed attachment of the milking cup assembly to the animal, thus allowing the operator sufficient time to attach the milking cup assembly to the animal at the speed at which the animal is entering the platform.

[0143] Although the device for identifying each animal passing through the platform entrance has been described as including RFID sensor elements, any other suitable animal identification device can be used, such as a video identification device or any other suitable identification device. It is also conceivable that, instead of providing an animal identification device near the platform entrance to identify the animal as it enters the platform, suitable identification devices can be provided on the platform to identify the corresponding animal at its respective animal holding location. Such an animal identification device can be a single animal identification device configured to identify the animal at the corresponding animal holding location, or a suitable animal identification device can be provided at each animal holding location to identify the animal at that location.

[0144] It is also conceivable that the historical data for each animal in the herd could include dietary data related to each animal, such as milk production per unit volume of feed and / or milk production per unit volume of different types of feed. In this case, it is envisioned that a data collection system would be provided to collect data related to the current diet of the corresponding animals in the herd, and this collection system would collect data related to the type of feed currently consumed by each animal, the feeding time of each animal, and the amount of feed consumed by each animal for each type of feed. Then, when calculating the expected completion position of each animal on the platform, the microprocessor would be programmed to consider the type of feed recently consumed by each animal, the time of the last feeding, and the amount consumed. Then, when calculating the expected completion position of each animal on the platform, the microprocessor would modify the expected milk production of that animal based on the type of feed recently consumed, the feeding time, and the amount consumed by the animal. It is also possible that the microprocessor would be programmed, for example, to consider the type and amount of feed consumed by each animal in the previous one to seven days, more typically the previous one to three days.

Claims

1. A method for operating a rotary milking platform to maximize the number of milked animals per unit time on the platform, the platform comprising a plurality of animal receiving positions arranged circumferentially around the platform, each animal receiving position being configured to pass through P positions between an inlet position and an outlet position, including both the inlet and outlet positions, during each rotation of the platform, animals sequentially entering the corresponding animal receiving position at the inlet position and sequentially exiting the corresponding animal receiving position from the outlet position, the method comprising: The optimal angular velocity of the platform is calculated based on historical data for each animal currently on the platform to maximize the number of animals milked per unit time. This historical data includes at least one of the historical milking time for each milking period of each animal currently on the platform and the historical milk yield for each milking period of each animal currently on the platform. The method for calculating the optimal angular velocity based on the historical data of each animal currently on the platform includes: Calculate the expected completion position for each animal currently on the platform, where milking is expected to be completed; Calculate the non-productive time period for each animal currently on the platform. This non-productive time period is the time during which the animal will remain on the platform from its expected completion position to either its platform exit position or its ideal completion position. The calculations ensure that each animal currently on the platform should maintain a certain number of platform revolutions on the platform, minimizing the sum of the non-productive time periods of the respective animals on that platform; and The optimal angular velocity of the platform is determined by the number of revolutions calculated to minimize the sum of the non-productive time periods of the corresponding animals on the platform so that each animal should remain on the platform. The expected completion position of each animal is calculated based on its current position on the platform.

2. The method according to claim 1, characterized in that, The optimal angular velocity of the platform is calculated each time an animal enters the platform.

3. The method according to claim 1, characterized in that, The optimal angular velocity of the platform is calculated each time an animal leaves the platform.

4. The method according to claim 1, characterized in that, Whenever the optimal angular velocity value of the platform is calculated, the angular velocity of the platform is changed, and the angular velocity of the platform is changed to the optimal angular velocity value that was just calculated.

5. An apparatus for operating a rotary milking platform to maximize the number of animals milked per unit time, the apparatus comprising a signal processor configured to calculate an optimal angular velocity of the platform based on historical data for each animal currently on the platform, to maximize the number of animals milked per unit time, the historical data including at least one of historical milking time for each milking period for milking each animal currently on the platform and historical milk yield for each milking period for each animal currently on the platform. Its features are, The signal processor is configured to calculate the optimal angular velocity of the platform based on historical data of each animal currently on the platform in the following manner: Calculate the expected completion position for each animal currently on the platform, where milking of that animal is expected to be completed; For each animal currently on the platform, calculate a non-productive time period, which is the time during which the animal will remain on the platform from its expected completion position to its exit position on the platform and its ideal completion position. Calculate the number of platform revolutions that each animal should currently remain on the platform to minimize the sum of the non-productive time periods of the corresponding animal on the platform; The optimal angular velocity of the platform is determined based on the number of revolutions each animal should maintain on the platform, so as to minimize the sum of the non-productive time periods of the corresponding animals on the platform.

6. The device according to claim 5, characterized in that, The signal processor is configured to calculate the expected completion position of each animal based on its current position on the platform.

7. The device according to claim 5, characterized in that, The signal processor is configured to calculate the optimal angular velocity of the platform whenever an animal enters the platform.

8. The device according to claim 5, characterized in that, The signal processor is configured to calculate the optimal angular velocity of the platform each time an animal leaves the platform.

9. The device according to claim 5, characterized in that, The signal processor is configured to change the angular velocity of the platform whenever an optimal angular velocity value for the platform is calculated, and to change the angular velocity of the platform to the optimal angular velocity value that was just calculated.

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